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Passivity-based tracking control of an omnidirectional mobile robot using only one geometrical parameter

Ren, Chao and Ding, Yutong and Ma, Shugen and Hu, Liang and Zhu, Xinshan (2019) 'Passivity-based tracking control of an omnidirectional mobile robot using only one geometrical parameter.' Control Engineering Practice, 90. 160 - 168. ISSN 0967-0661

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Abstract

This paper presents an output feedback tracking control scheme for a three-wheeled omnidirectional mobile robot, based on passivity property and a modified generalized proportional integral (GPI) observer. The proposed control approach is attractive from an implementation point of view, since only one robot geometrical parameter (i.e., contact radius) is required. Firstly, a nominal dynamic model is given and the passivity property is analyzed. Then the controller is designed based on passivity property and a modified GPI observer. The controller design objective is to preserve the passivity property of the robot system in the closed-loop system, which is conceptually different from the traditional model-based control methodology. Particularly, the designed control system takes full advantage of the robot natural damping. Therefore, only considerably small or non differential feedback is needed. In addition, theoretical analysis is given to show the closed-loop stability behavior. Finally, experiments are conducted to validate the effectiveness of the proposed control system design in both tracking and robustness performance.

Item Type: Article
Uncontrolled Keywords: Omnidirectional mobile robot, Trajectory tracking control, Disturbance observer, Passivity property
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 15 Jul 2021 16:47
Last Modified: 15 Jul 2021 17:15
URI: http://repository.essex.ac.uk/id/eprint/26285

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